/*
 * balance.h
 *
 *  Created on: 2022年12月16日
 *      Author: paper
 */
#ifndef CODE_BALANCE_H_
#define CODE_BALANCE_H_
#include "zf_common_headfile.h"

float ROLL_ANGLE_LOOP(float Set_Pitch);
float ROLL_ANGLESPEED_LOOP(float value);
float ROLL_SPEED_LOOP(float value);

float BDC_BANLANCE_LOOP(float Angle, float Gyro);
float BDC_SPEED_LOOP(float encoder, float speed);
float BDC_LOOP(float encoder, float speed);


float BLDC_YAW_ANGLESPEED_LOOP(float value);
float BLDC_YAW_ANGLE_LOOP(float value);
float BLDC_YAW_SPEED_LOOP(float value);

float limit(float val, float lower, float upper);
extern float Dynamic_zero;
extern float qianhou_zero;
extern float Dynamic_zero_set, ZHONGZHI_roll, ZHONGZHI_PITCH;
extern float k;
extern float image_Error;
extern float k2;
#endif
